Delay in State Change in fastcat

[tt-saito]

We are utilizing fastcat version 0.12.7 along with Elmo G-SOLTWI10/100EE7S for motor control.

We are encountering an issue wherein, upon issuing a command to change the state in fastcat using the actuator_cst command, there is a delay of approximately 3 loop cycles before the driver acknowledges the actual change. This delay persists consistently irrespective of the frequency and appears to stem from the software side.

Currently, we have succeeded in mitigating the delay by increasing the target_loop_rate_hz parameter in fastcat. Presently, with target_loop_rate_hz=1000, the delay is approximately 5ms. However, our target delay range is between 1 to 2ms.

We are reaching out to solicit advice or insights on effective strategies to further diminish this delay.